This sheet contains all the scheme commands that you may use to communicate with the Sony Aibos.
These commands cause the AIBO to move to the specified posture.
* Sometimes it doesn’t work to go from sitting or laying to standing or vise versa. It is better to make the AIBO move into a pounce position between these kind of transitions and then move to final position.
The following procedures will cause the AIBO to make various sounds: (bark-three), (bark-high), (bark), (bark-low), (bark-real), (bark-yap), (bark-little), (whimper), (sniff), (growl), (growl-long), (roar), (meow), (cat-cry), (cat-yowl), (donkey).
These commands control individual joints of the AIBOs and are just thin wrappers around the write-outputs procedure defined below. For full control of all joints you will need to use write-outputs.
Like the action commands above, these procedures are just wrappers around the write-outputs procedure. For full control of all LEDs you will need to use this procedure.
(write-outputs id-lst val-lst) - write-outputs takes in two as arguments two lists. The first list is a list of joint and/or LED IDs. The second list should be of the same size and specifies the value to set the corresponding joint or LED from the first list to. So for instance, (write-outputs (list mouth head-tilt) (list -1.0 0.0)) sets the AIBO’s mouth to a value of -1.0 (all the way open), and the tilt of the head to zero. The following is a list of all possible IDs. Using this procedure requires more experimentation to find the correct values for the corresponding joint of LED (most range from -1.0 to 1.0, of 0.0 to 1.0) but allows finer control of the robot.
Joint Name | Range of Values | Notes |
---|---|---|
leg-left-front-rotator | ||
leg-left-front-elevator | ||
leg-left-front-knee | ||
leg-right-front-rotator | ||
leg-right-front-elevator | ||
leg-right-front-knee | ||
leg-left-back-rotator | ||
leg-left-back-elevator | ||
leg-left-back-knee | ||
leg-right-back-rotator | ||
leg-right-back-elevator | ||
leg-right-back-knee | ||
head-tilt | ||
head-pan | ||
head-nod | ||
tail-tilt | ||
tail-pan | ||
mouth | -1.0 (fully open)- 0.0 (closed) | |
ear-left | ||
ear-right |
For LEDs the range of values is usually from 0.0 to 1.0 or 2.0, where 0.0 is completely off and 1.0 or 2.0 sets the LEDs to full intensity.
LED Name | Range of Values | Notes |
---|---|---|
led-head-color | ||
led-head-white | ||
led-mode-r | ||
led-mode-g | ||
led-mode-b | ||
led-wireless | ||
led-face-a | ||
led-face-b | ||
led-face-c | ||
led-face-d | ||
led-face-e | ||
led-face-f | ||
led-face-g | ||
led-face-h | ||
led-face-i | ||
led-face-j | ||
led-face-k | ||
led-face-l | ||
led-face-m | ||
led-face-n | ||
led-back-front-color | ||
led-back-front-white | ||
led-back-middle-color | ||
led-back-middle-white | ||
led-back-rear-color | ||
led-back-rear-white | ||
led-ab-mode |